Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F18%3APU127791" target="_blank" >RIV/00216305:26220/18:PU127791 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM
Original language description
This paper is aimed at utilizing of an Unscented Kalman filter (UKF) for application on non-odometry SLAM problem. Non-odometry SLAM problem lacks state transitions function for part of state vector so theoretical part of the paper describes the derivation of three proposed modifications. The experimental part then shows experiments which evaluate modifications performance in reference to Extended Kalman filter. Experiments are based on simulation of monocular photogrammetry reconstruction problem.
Czech name
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Czech description
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Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 24th Conference STUDENT EEICT 2018
ISBN
978-80-214-5614-3
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
358-362
Publisher name
Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních
Place of publication
Brno
Event location
Brno
Event date
Apr 26, 2018
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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